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Cancel center mode when gyro speed too fast #178

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Cancel center mode when gyro speed too fast #178

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2 changes: 0 additions & 2 deletions rm_gimbal_controllers/src/bullet_solver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -135,8 +135,6 @@ bool BulletSolver::solve(geometry_msgs::Point pos, geometry_msgs::Vector3 vel, d
double max_switch_angle = config_.max_switch_angle / 180 * M_PI;
double min_switch_angle = config_.min_switch_angle / 180 * M_PI;
track_target_ = std::abs(v_yaw) < max_track_target_vel_;
if (std::abs(chassis_angular_vel_z) >= config_.max_chassis_angular_vel)
track_target_ = 0;
double switch_armor_angle =
track_target_ ?
(acos(r / target_rho) - max_switch_angle +
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